Surgical device for transperineal biopsy, in particular of the prostate, for a movable arm of a robot

Abstract

A device for transperineal biopsy with a movable arm of a robot, comprising: an ultrasound probe being mounted around a first axis; a surgical instrument with a needle, which is movable along a first trajectory; and a moving device comprising at least a first pair of arms facing one another and arranged around a first longitudinal axis of the ultrasound probe so as to move, preferably oscillate, around the axis along a second trajectory, in order to guide and support the needle at a free end of each guide arm; and a connection interface to connect the device to a movable arm of a robot and having an operating module, which comprises a plurality of actuators each to move a respective said ultrasound probe or said guide arms, and a separation module arranged on the operating module and configured to transmit the motion to the ultrasound probe or to the arms.

The invention claimed is: 
     
       1. A device for transperineal biopsy, in particular of the prostate, for a movable arm of a robot, comprising:
 an ultrasound probe being mounted rotatable around a first longitudinal axis and being configured to be inserted, in use, into a natural orifice of a patient; 
 a surgical instrument being provided with a needle, which is movable along a first trajectory and configured to be inserted, in use, spaced apart from the natural orifice; 
 a moving device of the surgical instrument comprising at least one pair of guide arms facing one another and arranged around said first longitudinal axis so as to move, preferably oscillate, around the first longitudinal axis along a second trajectory, which is different from the first trajectory, in order to guide and support the needle at a free end of each guide arm; and 
 a connection interface designed to be connected to said movable arm of the robot and comprising an operating module, which comprises a plurality of actuators each to move a respective said ultrasound probe or said guide arms, and a separation module, which comprises a cup-shaped body arranged on the operating module; 
 the operating module comprising a first base wall having a plurality of first through openings having respective substantially crosswise second axes, in particular orthogonal, to the first longitudinal axis; each actuator comprising an output shaft, which is provided with a first motion transmission element and is mounted through a respective first through opening with the first motion transmission element arranged on an opposite side of the first base wall with respect to the actuator; the cup-shaped body comprising a second base wall having a plurality of second through openings, each of which is coaxial with a respective first through opening and the separation module comprising a plurality of transmission members, each of which is arranged through a respective second through opening to transmit the motion from a respective first motion transmission element to a respective said ultrasound probe or said guide arms; 
 wherein the device for transperineal biopsy comprises fixing means to block a base element configured to engage an abutment element obtained on a wall of the separation module or of the operating module to block the base element to the respective separation module or operating module. 
 
     
     
       2. The device according to  claim 1 , comprising:
 a second motion transmission element rotatable around the respective second axis and a third motion transmission element rotatable around the first longitudinal axis and coupled in a kinematic manner to each other to transmit the motion from a respective transmission member to said ultrasound probe; and 
 fourth motion transmission elements rotatable around the respective second axis and fifth motion transmission elements rotatable around the first longitudinal axis and coupled in a kinematic manner to each other to transmit the motion from a respective transmission member to a respective guide arm. 
 
     
     
       3. The device according to  claim 2 , comprising sixth motion transmission elements arranged respectively on opposite ends of first shafts on which a respective second motion transmission element or fourth motion transmission element is arranged; said sixth motion transmission elements being arranged between the motion transmission members and said second or fourth motion transmission elements. 
     
     
       4. The device according to  claim 2 , wherein the second motion transmission element comprises a first gear wheel, preferably a bevel gear wheel;
 the third motion transmission element comprises a second gear wheel, preferably a bevel gear wheel, mounted on a first hollow shaft coaxial with the first longitudinal axis and inside which the ultrasound probe is integrally mounted; 
 the fourth motion transmission elements comprising a third gear wheel, preferably a worm screw; 
 the fifth motion transmission elements comprising a fourth gear wheel mounted on a second hollow shaft to which a cam is integrally mounted which causes the movement of the respective guide arm connected to it. 
 
     
     
       5. The device according to  claim 3 , wherein the first motion transmission elements and the sixth motion transmission elements comprise a gear wheel, preferably a gear wheel with a face gear mesh, a joint or a clutch; and
 the transmission members comprising two gear wheels, preferably with a face gear mesh, two joints or two clutches mounted on opposite ends of a second shaft. 
 
     
     
       6. The device according to  claim 4 , wherein the cam acting on a tappet transmits the angular position of the cam and therefore of the guide arm to a position sensor. 
     
     
       7. The device according to  claim 1 , the guide arms having a cross-section decreasing towards the free end and being arranged in succession along the first longitudinal axis and with longitudinal extension crosswise to the first longitudinal axis. 
     
     
       8. The device according to  claim 1 , comprising several pairs of guide arms; each pair being arranged in succession along the first longitudinal axis. 
     
     
       9. The device according to  claim 1 , wherein each guide arm is provided at the free end with a third through opening or a seat, through which the needle extends; and the third through openings or the seats of the guide arms of the pair facing each other, preferably coaxial. 
     
     
       10. The device according to  claim 1 , wherein the second trajectory covered by each guide arm is at least partially curved. 
     
     
       11. The device according to  claim 3 , comprising a base element provided with a plurality of third through openings through which the first shafts are arranged. 
     
     
       12. The device according to  claim 1 , the separation module comprising support elements, which protrude from the second base wall of the cup-shaped body, in particular at side edges of the second base wall. 
     
     
       13. The device according to  claim 1 , said first base wall having at least a third through opening made at a first centre line of the first base wall and the second base wall-having at least a fourth through opening, made at a second centre line of the second base wall; said cup-shaped body being configured to be arranged on the operating module so that the fourth through opening is aligned with the third through opening. 
     
     
       14. The device according to  claim 6 , wherein said first base wall having at least a third through opening made at a first centre line of the first base wall and the second base wall having at least a fourth through opening, made at a second centre line of the second base wall; said cup-shaped body being configured to be arranged on the operating module so that the fourth through opening is aligned with the third through opening; the position sensor is arranged in the third opening; a seal element being arranged in the fourth opening; and the cam and the tappet being arranged respectively on opposite sides of the seal element.